Course Project under course EE698G - Probabilistic Mobile Robotics
- Followed ICRA’15 paper ”Precise quadrotor autonomous landing with SRUKF vision perception” by S. Yang et al. to implement a high level control pipeline on a quadrotor
- Used Aruco Markers and library in ROS framework to estimate pose from images and experimented by fusing this with onboard IMU and Sonar sensor data using Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Square-Root Unscented Kalman Filter (SRUKF)
- Our team of two won the Best Presentation Award for the project